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Table 2 Specifications of SCalf-II, HIT, SJTU, and CNVI quadruped robots [26,27,28]

From: Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review

Specifications SCalf-II HIT SJTU CNVI
Length × width × height (m) 1.1 × 0.49 × 1 1.2 × 0.5 × 1 1.2 × 0.7 × 1
Weight (kg) 123 150 130 130
Payload (kg) 120 52 50 50
Max speed (km/h) 5 4.32 3.74 6
Gaits Trot
Hopping
Creep
Trot
Creep
Trot
Creep
Trot
Active DOFs 3 3 3 3
Passive DOFs 1 1 3
Running time (min) 40 40 40 120
Slope (°) 10 10 10 30
Obstacle height (mm) 150 150 150